PEIV's WTLS Robust Estimation of Relative Position and Pose Calibration for Cameras and Laser Trackers
As the laser tracker measurement system combines the visual measurement system to perform the relative position and pose calibration,the least-squares algorithm(least-squares,LS)will reduce the solution accuracy of the relative position and pose param-eters due to the ignorance of random errors of the coefficient matrix element in the function model.Therefore,the coordinate transfor-mation model based on the Lodrigues matrix introduces a partial errors-in-variables(PEIV)weighted total least-squares(WTLS)al-gorithm to solve the relative position and pose parameters.To reduce the impact of gross error,the median robust method with a high crash pollution rate is used to calculate the error in the unit weight and standardize the residuals,and the Danish function is selected as the equivalence weight function to reasonably weight the observed values and coefficient matrix elements.The experimental results show that the application of this method of relative position and pose calibration reduces the error in the unit weight by 0.04 mm at the maximum in the case of a gross error of 0.05 mm in the coordinate components of a certain point,and the coordinate values calculated according to the calibration parameters are closer to the theoretical values than LS,which proves the effectiveness of the proposed method.
PEIVposition and pose calibrationrobust estimationWTLS
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